// MIT License

// Copyright (c) 2019 Erin Catto

// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:

// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.

// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.

#include "settings.h"
#include "test.h"
#include "imgui/imgui.h"

// Test the prismatic joint with limits and motor options.
class PrismaticJoint : public Test
{
public:
  PrismaticJoint()
  {
    b2Body* ground = NULL;
    {
      b2BodyDef bd;
      ground = m_world->CreateBody(&bd);

      b2EdgeShape shape;
      shape.SetTwoSided(b2Vec2(-40.0f, 0.0f), b2Vec2(40.0f, 0.0f));
      ground->CreateFixture(&shape, 0.0f);
    }

    m_enableLimit = true;
    m_enableMotor = false;
    m_motorSpeed = 10.0f;

    {
      b2PolygonShape shape;
      shape.SetAsBox(1.0f, 1.0f);

      b2BodyDef bd;
      bd.type = b2_dynamicBody;
      bd.position.Set(0.0f, 10.0f);
      bd.angle = 0.5f * b2_pi;
      bd.allowSleep = false;
      b2Body* body = m_world->CreateBody(&bd);
      body->CreateFixture(&shape, 5.0f);

      b2PrismaticJointDef pjd;

      // Horizontal
      pjd.Initialize(ground, body, bd.position, b2Vec2(1.0f, 0.0f));

      pjd.motorSpeed = m_motorSpeed;
      pjd.maxMotorForce = 10000.0f;
      pjd.enableMotor = m_enableMotor;
      pjd.lowerTranslation = -10.0f;
      pjd.upperTranslation = 10.0f;
      pjd.enableLimit = m_enableLimit;

      m_joint = (b2PrismaticJoint*)m_world->CreateJoint(&pjd);
    }
  }

  void UpdateUI() override
  {
    ImGui::SetNextWindowPos(ImVec2(10.0f, 100.0f));
    ImGui::SetNextWindowSize(ImVec2(200.0f, 100.0f));
    ImGui::Begin("Joint Controls", nullptr, ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoResize);

    if (ImGui::Checkbox("Limit", &m_enableLimit))
    {
      m_joint->EnableLimit(m_enableLimit);
    }

    if (ImGui::Checkbox("Motor", &m_enableMotor))
    {
      m_joint->EnableMotor(m_enableMotor);
    }

    if (ImGui::SliderFloat("Speed", &m_motorSpeed, -100.0f, 100.0f, "%.0f"))
    {
      m_joint->SetMotorSpeed(m_motorSpeed);
    }

    ImGui::End();
  }

  void Step(Settings& settings) override
  {
    Test::Step(settings);
    float force = m_joint->GetMotorForce(settings.m_hertz);
    g_debugDraw.DrawString(5, m_textLine, "Motor Force = %4.0f", force);
    m_textLine += m_textIncrement;
  }

  static Test* Create()
  {
    return new PrismaticJoint;
  }

  b2PrismaticJoint* m_joint;
  float m_motorSpeed;
  bool m_enableMotor;
  bool m_enableLimit;
};

static int testIndex = RegisterTest("Joints", "Prismatic", PrismaticJoint::Create);
